3D bounding boxes not displaying in Ubuntu 20.04 and ROS Noetic.

[zrxwz]

Branch

noetic-devel

Question

After multiple attempts to modify yolov8n-seg.pt and voxel_leaf_size, the 3D bounding boxes still do not display. I am using kitti-track_with_cloud.launch, and both the images and point clouds display normally. The images have detection results, but the point clouds do not have any results.

Additional

No response

[zrxwz]

tracker_with_cloud_node: /opt/ros/noetic/include/image_geometry/pinhole_camera_model.h:304: std::string image_geometry::PinholeCameraModel::tfFrame() const: Assertion `initialized()' failed.

[Tonny24Wang]

This is a bug.
You should modify the /home/mm/projects/ultralytics_ros/src/ultralytics_ros/src/tracker_with_cloud_node.cpp.
move the line 'cam_model_.fromCameraInfo(camera_info_msg); ' to some line before the following
pcl::PointCloudpcl::PointXYZ::Ptr transformed_cloud;
transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cloud_msg->header.frame_id, cam_model_.tfFrame(),
cloud_msg->header.stamp);
'cam_model_' should be set first.